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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">find_marks_and_pose</span><span data-if="c" style="display:none;">T_find_marks_and_pose</span><span data-if="cpp" style="display:none;">FindMarksAndPose</span><span data-if="dotnet" style="display:none;">FindMarksAndPose</span><span data-if="python" style="display:none;">find_marks_and_pose</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">find_marks_and_pose</span><span data-if="c" style="display:none;">T_find_marks_and_pose</span><span data-if="cpp" style="display:none;">FindMarksAndPose</span><span data-if="dotnet" style="display:none;">FindMarksAndPose</span><span data-if="python" style="display:none;">find_marks_and_pose</span></code> — Extract rectangularly arranged 2D calibration marks from the image and
calculate initial values for the external camera parameters.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>find_marks_and_pose</b>(<a href="#Image"><i>Image</i></a>, <a href="#CalPlateRegion"><i>CalPlateRegion</i></a> :  : <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, <a href="#StartCamParam"><i>StartCamParam</i></a>, <a href="#StartThresh"><i>StartThresh</i></a>, <a href="#DeltaThresh"><i>DeltaThresh</i></a>, <a href="#MinThresh"><i>MinThresh</i></a>, <a href="#Alpha"><i>Alpha</i></a>, <a href="#MinContLength"><i>MinContLength</i></a>, <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a> : <a href="#RCoord"><i>RCoord</i></a>, <a href="#CCoord"><i>CCoord</i></a>, <a href="#StartPose"><i>StartPose</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_find_marks_and_pose</b>(const Hobject <a href="#Image"><i>Image</i></a>, const Hobject <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const Htuple <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const Htuple <a href="#StartCamParam"><i>StartCamParam</i></a>, const Htuple <a href="#StartThresh"><i>StartThresh</i></a>, const Htuple <a href="#DeltaThresh"><i>DeltaThresh</i></a>, const Htuple <a href="#MinThresh"><i>MinThresh</i></a>, const Htuple <a href="#Alpha"><i>Alpha</i></a>, const Htuple <a href="#MinContLength"><i>MinContLength</i></a>, const Htuple <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, Htuple* <a href="#RCoord"><i>RCoord</i></a>, Htuple* <a href="#CCoord"><i>CCoord</i></a>, Htuple* <a href="#StartPose"><i>StartPose</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>FindMarksAndPose</b>(const HObject&amp; <a href="#Image"><i>Image</i></a>, const HObject&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const HTuple&amp; <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HTuple&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, const HTuple&amp; <a href="#StartThresh"><i>StartThresh</i></a>, const HTuple&amp; <a href="#DeltaThresh"><i>DeltaThresh</i></a>, const HTuple&amp; <a href="#MinThresh"><i>MinThresh</i></a>, const HTuple&amp; <a href="#Alpha"><i>Alpha</i></a>, const HTuple&amp; <a href="#MinContLength"><i>MinContLength</i></a>, const HTuple&amp; <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#RCoord"><i>RCoord</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HTuple* <a href="#StartPose"><i>StartPose</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HImage.html">HImage</a>::<b>FindMarksAndPose</b>(const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const HString&amp; <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HImage.html">HImage</a>::<b>FindMarksAndPose</b>(const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const char* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HImage.html">HImage</a>::<b>FindMarksAndPose</b>(const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const wchar_t* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCamPar.html">HCamPar</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const HString&amp; <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCamPar.html">HCamPar</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const char* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCamPar.html">HCamPar</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const wchar_t* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>, HPose* <a href="#StartPose"><i>StartPose</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HPose.html">HPose</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const HString&amp; <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HPose.html">HPose</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const char* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HPose.html">HPose</a>::<b>FindMarksAndPose</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, const HRegion&amp; <a href="#CalPlateRegion"><i>CalPlateRegion</i></a>, const wchar_t* <a href="#CalPlateDescr"><i>CalPlateDescr</i></a>, const HCamPar&amp; <a href="#StartCamParam"><i>StartCamParam</i></a>, Hlong <a href="#StartThresh"><i>StartThresh</i></a>, Hlong <a href="#DeltaThresh"><i>DeltaThresh</i></a>, Hlong <a href="#MinThresh"><i>MinThresh</i></a>, double <a href="#Alpha"><i>Alpha</i></a>, double <a href="#MinContLength"><i>MinContLength</i></a>, double <a href="#MaxDiamMarks"><i>MaxDiamMarks</i></a>, HTuple* <a href="#CCoord"><i>CCoord</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>FindMarksAndPose</b>(<a href="HObject.html">HObject</a> <a href="#Image"><i>image</i></a>, <a href="HObject.html">HObject</a> <a href="#CalPlateRegion"><i>calPlateRegion</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CalPlateDescr"><i>calPlateDescr</i></a>, <a href="HTuple.html">HTuple</a> <a href="#StartCamParam"><i>startCamParam</i></a>, <a href="HTuple.html">HTuple</a> <a href="#StartThresh"><i>startThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DeltaThresh"><i>deltaThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinThresh"><i>minThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Alpha"><i>alpha</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinContLength"><i>minContLength</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaxDiamMarks"><i>maxDiamMarks</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#RCoord"><i>RCoord</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CCoord"><i>CCoord</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#StartPose"><i>startPose</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HImage.html">HImage</a>.<b>FindMarksAndPose</b>(<a href="HRegion.html">HRegion</a> <a href="#CalPlateRegion"><i>calPlateRegion</i></a>, string <a href="#CalPlateDescr"><i>calPlateDescr</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#StartCamParam"><i>startCamParam</i></a>, int <a href="#StartThresh"><i>startThresh</i></a>, int <a href="#DeltaThresh"><i>deltaThresh</i></a>, int <a href="#MinThresh"><i>minThresh</i></a>, double <a href="#Alpha"><i>alpha</i></a>, double <a href="#MinContLength"><i>minContLength</i></a>, double <a href="#MaxDiamMarks"><i>maxDiamMarks</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CCoord"><i>CCoord</i></a>, out <a href="HPose.html">HPose</a> <a href="#StartPose"><i>startPose</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HCamPar.html">HCamPar</a>.<b>FindMarksAndPose</b>(<a href="HImage.html">HImage</a> <a href="#Image"><i>image</i></a>, <a href="HRegion.html">HRegion</a> <a href="#CalPlateRegion"><i>calPlateRegion</i></a>, string <a href="#CalPlateDescr"><i>calPlateDescr</i></a>, int <a href="#StartThresh"><i>startThresh</i></a>, int <a href="#DeltaThresh"><i>deltaThresh</i></a>, int <a href="#MinThresh"><i>minThresh</i></a>, double <a href="#Alpha"><i>alpha</i></a>, double <a href="#MinContLength"><i>minContLength</i></a>, double <a href="#MaxDiamMarks"><i>maxDiamMarks</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CCoord"><i>CCoord</i></a>, out <a href="HPose.html">HPose</a> <a href="#StartPose"><i>startPose</i></a>)</code></p>
<p>
<code><a href="HTuple.html">HTuple</a> <a href="HPose.html">HPose</a>.<b>FindMarksAndPose</b>(<a href="HImage.html">HImage</a> <a href="#Image"><i>image</i></a>, <a href="HRegion.html">HRegion</a> <a href="#CalPlateRegion"><i>calPlateRegion</i></a>, string <a href="#CalPlateDescr"><i>calPlateDescr</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#StartCamParam"><i>startCamParam</i></a>, int <a href="#StartThresh"><i>startThresh</i></a>, int <a href="#DeltaThresh"><i>deltaThresh</i></a>, int <a href="#MinThresh"><i>minThresh</i></a>, double <a href="#Alpha"><i>alpha</i></a>, double <a href="#MinContLength"><i>minContLength</i></a>, double <a href="#MaxDiamMarks"><i>maxDiamMarks</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CCoord"><i>CCoord</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>find_marks_and_pose</b>(<a href="#Image"><i>image</i></a>: HObject, <a href="#CalPlateRegion"><i>cal_plate_region</i></a>: HObject, <a href="#CalPlateDescr"><i>cal_plate_descr</i></a>: str, <a href="#StartCamParam"><i>start_cam_param</i></a>: Sequence[Union[int, float, str]], <a href="#StartThresh"><i>start_thresh</i></a>: int, <a href="#DeltaThresh"><i>delta_thresh</i></a>: int, <a href="#MinThresh"><i>min_thresh</i></a>: int, <a href="#Alpha"><i>alpha</i></a>: float, <a href="#MinContLength"><i>min_cont_length</i></a>: float, <a href="#MaxDiamMarks"><i>max_diam_marks</i></a>: float) -&gt; Tuple[Sequence[float], Sequence[float], Sequence[Union[float, int]]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">find_marks_and_pose</span><span data-if="c" style="display:none">find_marks_and_pose</span><span data-if="cpp" style="display:none">FindMarksAndPose</span><span data-if="com" style="display:none">FindMarksAndPose</span><span data-if="dotnet" style="display:none">FindMarksAndPose</span><span data-if="python" style="display:none">find_marks_and_pose</span></code> is used to determine the
input data for a subsequent camera calibration using a calibration plate
with rectangularly arranged marks (see
<a href="toc_calibration.html">Calibration</a> or <a href="camera_calibration.html"><code><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></code></a>):
First, the 2D center points
[<a href="#RCoord"><i><code><span data-if="hdevelop" style="display:inline">RCoord</span><span data-if="c" style="display:none">RCoord</span><span data-if="cpp" style="display:none">RCoord</span><span data-if="com" style="display:none">RCoord</span><span data-if="dotnet" style="display:none">RCoord</span><span data-if="python" style="display:none">rcoord</span></code></i></a>,<a href="#CCoord"><i><code><span data-if="hdevelop" style="display:inline">CCoord</span><span data-if="c" style="display:none">CCoord</span><span data-if="cpp" style="display:none">CCoord</span><span data-if="com" style="display:none">CCoord</span><span data-if="dotnet" style="display:none">CCoord</span><span data-if="python" style="display:none">ccoord</span></code></i></a>] of the calibration marks within
the region <a href="#CalPlateRegion"><i><code><span data-if="hdevelop" style="display:inline">CalPlateRegion</span><span data-if="c" style="display:none">CalPlateRegion</span><span data-if="cpp" style="display:none">CalPlateRegion</span><span data-if="com" style="display:none">CalPlateRegion</span><span data-if="dotnet" style="display:none">calPlateRegion</span><span data-if="python" style="display:none">cal_plate_region</span></code></i></a> of the input image <a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a>
are extracted and ordered. Secondly, a rough estimate for
the external camera parameters (<a href="#StartPose"><i><code><span data-if="hdevelop" style="display:inline">StartPose</span><span data-if="c" style="display:none">StartPose</span><span data-if="cpp" style="display:none">StartPose</span><span data-if="com" style="display:none">StartPose</span><span data-if="dotnet" style="display:none">startPose</span><span data-if="python" style="display:none">start_pose</span></code></i></a>) is computed,
i.e., the 3D pose (= position and orientation) of the calibration plate
relative to the camera coordinate system (see <a href="create_pose.html"><code><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></code></a> for more
information about 3D poses).
</p>
<p>In the input image <a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a> an edge detector is applied
(see <a href="edges_image.html"><code><span data-if="hdevelop" style="display:inline">edges_image</span><span data-if="c" style="display:none">edges_image</span><span data-if="cpp" style="display:none">EdgesImage</span><span data-if="com" style="display:none">EdgesImage</span><span data-if="dotnet" style="display:none">EdgesImage</span><span data-if="python" style="display:none">edges_image</span></code></a>, mode 'lanser2') to the region
<a href="#CalPlateRegion"><i><code><span data-if="hdevelop" style="display:inline">CalPlateRegion</span><span data-if="c" style="display:none">CalPlateRegion</span><span data-if="cpp" style="display:none">CalPlateRegion</span><span data-if="com" style="display:none">CalPlateRegion</span><span data-if="dotnet" style="display:none">calPlateRegion</span><span data-if="python" style="display:none">cal_plate_region</span></code></i></a>,
which can be found by applying 该算子 <a href="find_caltab.html"><code><span data-if="hdevelop" style="display:inline">find_caltab</span><span data-if="c" style="display:none">find_caltab</span><span data-if="cpp" style="display:none">FindCaltab</span><span data-if="com" style="display:none">FindCaltab</span><span data-if="dotnet" style="display:none">FindCaltab</span><span data-if="python" style="display:none">find_caltab</span></code></a>.
The filter parameter for this edge detection can be tuned via
<a href="#Alpha"><i><code><span data-if="hdevelop" style="display:inline">Alpha</span><span data-if="c" style="display:none">Alpha</span><span data-if="cpp" style="display:none">Alpha</span><span data-if="com" style="display:none">Alpha</span><span data-if="dotnet" style="display:none">alpha</span><span data-if="python" style="display:none">alpha</span></code></i></a>. Use a smaller value for <a href="#Alpha"><i><code><span data-if="hdevelop" style="display:inline">Alpha</span><span data-if="c" style="display:none">Alpha</span><span data-if="cpp" style="display:none">Alpha</span><span data-if="com" style="display:none">Alpha</span><span data-if="dotnet" style="display:none">alpha</span><span data-if="python" style="display:none">alpha</span></code></i></a> to achieve
a stronger smoothing effect.
In the edge image closed contours are searched for: The number of
closed contours must correspond to the number of calibration marks
as described in the calibration plate description file
<a href="#CalPlateDescr"><i><code><span data-if="hdevelop" style="display:inline">CalPlateDescr</span><span data-if="c" style="display:none">CalPlateDescr</span><span data-if="cpp" style="display:none">CalPlateDescr</span><span data-if="com" style="display:none">CalPlateDescr</span><span data-if="dotnet" style="display:none">calPlateDescr</span><span data-if="python" style="display:none">cal_plate_descr</span></code></i></a> and the contours have to be elliptically shaped.
Contours shorter than <a href="#MinContLength"><i><code><span data-if="hdevelop" style="display:inline">MinContLength</span><span data-if="c" style="display:none">MinContLength</span><span data-if="cpp" style="display:none">MinContLength</span><span data-if="com" style="display:none">MinContLength</span><span data-if="dotnet" style="display:none">minContLength</span><span data-if="python" style="display:none">min_cont_length</span></code></i></a> are discarded,
just as contours enclosing regions with a diameter larger than
<a href="#MaxDiamMarks"><i><code><span data-if="hdevelop" style="display:inline">MaxDiamMarks</span><span data-if="c" style="display:none">MaxDiamMarks</span><span data-if="cpp" style="display:none">MaxDiamMarks</span><span data-if="com" style="display:none">MaxDiamMarks</span><span data-if="dotnet" style="display:none">maxDiamMarks</span><span data-if="python" style="display:none">max_diam_marks</span></code></i></a> (e.g., the border of the calibration plate).
</p>
<p>For the detection of contours a threshold operator is applied
on the resulting amplitudes of the edge detector.
All points with a high amplitude (i.e., borders of marks)
are selected.
</p>
<p>First, the threshold value is set to
<a href="#StartThresh"><i><code><span data-if="hdevelop" style="display:inline">StartThresh</span><span data-if="c" style="display:none">StartThresh</span><span data-if="cpp" style="display:none">StartThresh</span><span data-if="com" style="display:none">StartThresh</span><span data-if="dotnet" style="display:none">startThresh</span><span data-if="python" style="display:none">start_thresh</span></code></i></a>. If the search for the closed contours or the
successive pose estimate fails, this threshold value is successively
decreased by <a href="#DeltaThresh"><i><code><span data-if="hdevelop" style="display:inline">DeltaThresh</span><span data-if="c" style="display:none">DeltaThresh</span><span data-if="cpp" style="display:none">DeltaThresh</span><span data-if="com" style="display:none">DeltaThresh</span><span data-if="dotnet" style="display:none">deltaThresh</span><span data-if="python" style="display:none">delta_thresh</span></code></i></a> down to a minimum value of
<a href="#MinThresh"><i><code><span data-if="hdevelop" style="display:inline">MinThresh</span><span data-if="c" style="display:none">MinThresh</span><span data-if="cpp" style="display:none">MinThresh</span><span data-if="com" style="display:none">MinThresh</span><span data-if="dotnet" style="display:none">minThresh</span><span data-if="python" style="display:none">min_thresh</span></code></i></a>.
</p>
<p>Each of the found contours is refined with subpixel accuracy (see
<a href="edges_sub_pix.html"><code><span data-if="hdevelop" style="display:inline">edges_sub_pix</span><span data-if="c" style="display:none">edges_sub_pix</span><span data-if="cpp" style="display:none">EdgesSubPix</span><span data-if="com" style="display:none">EdgesSubPix</span><span data-if="dotnet" style="display:none">EdgesSubPix</span><span data-if="python" style="display:none">edges_sub_pix</span></code></a>) and
subsequently approximated by an ellipse. The center points of these
ellipses represent a good approximation of the desired 2D image coordinates
[<a href="#RCoord"><i><code><span data-if="hdevelop" style="display:inline">RCoord</span><span data-if="c" style="display:none">RCoord</span><span data-if="cpp" style="display:none">RCoord</span><span data-if="com" style="display:none">RCoord</span><span data-if="dotnet" style="display:none">RCoord</span><span data-if="python" style="display:none">rcoord</span></code></i></a>,<a href="#CCoord"><i><code><span data-if="hdevelop" style="display:inline">CCoord</span><span data-if="c" style="display:none">CCoord</span><span data-if="cpp" style="display:none">CCoord</span><span data-if="com" style="display:none">CCoord</span><span data-if="dotnet" style="display:none">CCoord</span><span data-if="python" style="display:none">ccoord</span></code></i></a>] of the calibration mark center points.
The order of the values within these two tuples must correspond to
the order of the 3D coordinates of the calibration marks in the calibration
plate description file <a href="#CalPlateDescr"><i><code><span data-if="hdevelop" style="display:inline">CalPlateDescr</span><span data-if="c" style="display:none">CalPlateDescr</span><span data-if="cpp" style="display:none">CalPlateDescr</span><span data-if="com" style="display:none">CalPlateDescr</span><span data-if="dotnet" style="display:none">calPlateDescr</span><span data-if="python" style="display:none">cal_plate_descr</span></code></i></a>, since this fixes the
correspondences between extracted image marks and known model marks
(given by <a href="caltab_points.html"><code><span data-if="hdevelop" style="display:inline">caltab_points</span><span data-if="c" style="display:none">caltab_points</span><span data-if="cpp" style="display:none">CaltabPoints</span><span data-if="com" style="display:none">CaltabPoints</span><span data-if="dotnet" style="display:none">CaltabPoints</span><span data-if="python" style="display:none">caltab_points</span></code></a>)! If a
triangular orientation mark is defined in a corner of the plate by the
plate description file (see <a href="gen_caltab.html"><code><span data-if="hdevelop" style="display:inline">gen_caltab</span><span data-if="c" style="display:none">gen_caltab</span><span data-if="cpp" style="display:none">GenCaltab</span><span data-if="com" style="display:none">GenCaltab</span><span data-if="dotnet" style="display:none">GenCaltab</span><span data-if="python" style="display:none">gen_caltab</span></code></a>), the mark will be detected
and the point order is returned in row-major order beginning with the
corner mark in the (barycentric) negative quadrant with respect to the
defined coordinate system of the plate. Else, if no orientation mark is
defined, the order of the center points is in row-major order beginning at
the upper left corner mark in the image.
</p>
<p>Based on the ellipse parameters for each calibration mark, a rough
estimate for the external camera parameters is finally computed.
For this purpose the fixed correspondences between extracted image marks
and known model marks are used. The estimate <a href="#StartPose"><i><code><span data-if="hdevelop" style="display:inline">StartPose</span><span data-if="c" style="display:none">StartPose</span><span data-if="cpp" style="display:none">StartPose</span><span data-if="com" style="display:none">StartPose</span><span data-if="dotnet" style="display:none">startPose</span><span data-if="python" style="display:none">start_pose</span></code></i></a>
describes the pose of the calibration plate in the camera coordinate
system as required by 该算子 <a href="camera_calibration.html"><code><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></code></a>.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="Image" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2)</span>
</div>
<p class="pardesc">Input image.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CalPlateRegion" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CalPlateRegion</span><span data-if="c" style="display:none">CalPlateRegion</span><span data-if="cpp" style="display:none">CalPlateRegion</span><span data-if="com" style="display:none">CalPlateRegion</span><span data-if="dotnet" style="display:none">calPlateRegion</span><span data-if="python" style="display:none">cal_plate_region</span></code></b> (input_object)  </span><span>region <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HRegion.html">HRegion</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HRegion.html">HRegion</a></span><span data-if="c" style="display:none">Hobject</span></span>
</div>
<p class="pardesc">Region of the calibration plate.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CalPlateDescr" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CalPlateDescr</span><span data-if="c" style="display:none">CalPlateDescr</span><span data-if="cpp" style="display:none">CalPlateDescr</span><span data-if="com" style="display:none">CalPlateDescr</span><span data-if="dotnet" style="display:none">calPlateDescr</span><span data-if="python" style="display:none">cal_plate_descr</span></code></b> (input_control)  </span><span>filename.read <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">File name of the calibration plate description.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'caltab_100.descr'</span>
    <span data-if="c" style="display:none">"caltab_100.descr"</span>
    <span data-if="cpp" style="display:none">"caltab_100.descr"</span>
    <span data-if="com" style="display:none">"caltab_100.descr"</span>
    <span data-if="dotnet" style="display:none">"caltab_100.descr"</span>
    <span data-if="python" style="display:none">"caltab_100.descr"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'caltab_100mm.descr'</span><span data-if="c" style="display:none">"caltab_100mm.descr"</span><span data-if="cpp" style="display:none">"caltab_100mm.descr"</span><span data-if="com" style="display:none">"caltab_100mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_100mm.descr"</span><span data-if="python" style="display:none">"caltab_100mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_10mm.descr'</span><span data-if="c" style="display:none">"caltab_10mm.descr"</span><span data-if="cpp" style="display:none">"caltab_10mm.descr"</span><span data-if="com" style="display:none">"caltab_10mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_10mm.descr"</span><span data-if="python" style="display:none">"caltab_10mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_200mm.descr'</span><span data-if="c" style="display:none">"caltab_200mm.descr"</span><span data-if="cpp" style="display:none">"caltab_200mm.descr"</span><span data-if="com" style="display:none">"caltab_200mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_200mm.descr"</span><span data-if="python" style="display:none">"caltab_200mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_2500um.descr'</span><span data-if="c" style="display:none">"caltab_2500um.descr"</span><span data-if="cpp" style="display:none">"caltab_2500um.descr"</span><span data-if="com" style="display:none">"caltab_2500um.descr"</span><span data-if="dotnet" style="display:none">"caltab_2500um.descr"</span><span data-if="python" style="display:none">"caltab_2500um.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_30mm.descr'</span><span data-if="c" style="display:none">"caltab_30mm.descr"</span><span data-if="cpp" style="display:none">"caltab_30mm.descr"</span><span data-if="com" style="display:none">"caltab_30mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_30mm.descr"</span><span data-if="python" style="display:none">"caltab_30mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_650um.descr'</span><span data-if="c" style="display:none">"caltab_650um.descr"</span><span data-if="cpp" style="display:none">"caltab_650um.descr"</span><span data-if="com" style="display:none">"caltab_650um.descr"</span><span data-if="dotnet" style="display:none">"caltab_650um.descr"</span><span data-if="python" style="display:none">"caltab_650um.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_6mm.descr'</span><span data-if="c" style="display:none">"caltab_6mm.descr"</span><span data-if="cpp" style="display:none">"caltab_6mm.descr"</span><span data-if="com" style="display:none">"caltab_6mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_6mm.descr"</span><span data-if="python" style="display:none">"caltab_6mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_800mm.descr'</span><span data-if="c" style="display:none">"caltab_800mm.descr"</span><span data-if="cpp" style="display:none">"caltab_800mm.descr"</span><span data-if="com" style="display:none">"caltab_800mm.descr"</span><span data-if="dotnet" style="display:none">"caltab_800mm.descr"</span><span data-if="python" style="display:none">"caltab_800mm.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_big.descr'</span><span data-if="c" style="display:none">"caltab_big.descr"</span><span data-if="cpp" style="display:none">"caltab_big.descr"</span><span data-if="com" style="display:none">"caltab_big.descr"</span><span data-if="dotnet" style="display:none">"caltab_big.descr"</span><span data-if="python" style="display:none">"caltab_big.descr"</span>, <span data-if="hdevelop" style="display:inline">'caltab_small.descr'</span><span data-if="c" style="display:none">"caltab_small.descr"</span><span data-if="cpp" style="display:none">"caltab_small.descr"</span><span data-if="com" style="display:none">"caltab_small.descr"</span><span data-if="dotnet" style="display:none">"caltab_small.descr"</span><span data-if="python" style="display:none">"caltab_small.descr"</span></p>
<p class="pardesc"><span class="parcat">File extension:
          </span>.<code>descr</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="StartCamParam" class="parname"><b><code><span data-if="hdevelop" style="display:inline">StartCamParam</span><span data-if="c" style="display:none">StartCamParam</span><span data-if="cpp" style="display:none">StartCamParam</span><span data-if="com" style="display:none">StartCamParam</span><span data-if="dotnet" style="display:none">startCamParam</span><span data-if="python" style="display:none">start_cam_param</span></code></b> (input_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Initial values for the internal camera parameters.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="StartThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">StartThresh</span><span data-if="c" style="display:none">StartThresh</span><span data-if="cpp" style="display:none">StartThresh</span><span data-if="com" style="display:none">StartThresh</span><span data-if="dotnet" style="display:none">startThresh</span><span data-if="python" style="display:none">start_thresh</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Initial threshold value for contour detection.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>128</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>80, 96, 112, 128, 144, 160</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>StartThresh &gt; 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="DeltaThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DeltaThresh</span><span data-if="c" style="display:none">DeltaThresh</span><span data-if="cpp" style="display:none">DeltaThresh</span><span data-if="com" style="display:none">DeltaThresh</span><span data-if="dotnet" style="display:none">deltaThresh</span><span data-if="python" style="display:none">delta_thresh</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Loop value for successive reduction of
<a href="#StartThresh"><i><code><span data-if="hdevelop" style="display:inline">StartThresh</span><span data-if="c" style="display:none">StartThresh</span><span data-if="cpp" style="display:none">StartThresh</span><span data-if="com" style="display:none">StartThresh</span><span data-if="dotnet" style="display:none">startThresh</span><span data-if="python" style="display:none">start_thresh</span></code></i></a>.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>10</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>6, 8, 10, 12, 14, 16, 18, 20, 22</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>DeltaThresh &gt; 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinThresh</span><span data-if="c" style="display:none">MinThresh</span><span data-if="cpp" style="display:none">MinThresh</span><span data-if="com" style="display:none">MinThresh</span><span data-if="dotnet" style="display:none">minThresh</span><span data-if="python" style="display:none">min_thresh</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Minimum threshold for contour detection.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>18</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>8, 10, 12, 14, 16, 18, 20, 22</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>MinThresh &gt; 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Alpha" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Alpha</span><span data-if="c" style="display:none">Alpha</span><span data-if="cpp" style="display:none">Alpha</span><span data-if="com" style="display:none">Alpha</span><span data-if="dotnet" style="display:none">alpha</span><span data-if="python" style="display:none">alpha</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Filter parameter for contour detection, see
<a href="edges_image.html"><code><span data-if="hdevelop" style="display:inline">edges_image</span><span data-if="c" style="display:none">edges_image</span><span data-if="cpp" style="display:none">EdgesImage</span><span data-if="com" style="display:none">EdgesImage</span><span data-if="dotnet" style="display:none">EdgesImage</span><span data-if="python" style="display:none">edges_image</span></code></a>.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.9</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0.2
          ≤
        
    <span data-if="hdevelop" style="display:inline">Alpha</span>
    <span data-if="c" style="display:none">Alpha</span>
    <span data-if="cpp" style="display:none">Alpha</span>
    <span data-if="com" style="display:none">Alpha</span>
    <span data-if="dotnet" style="display:none">alpha</span>
    <span data-if="python" style="display:none">alpha</span>
    
          ≤
          2.0</code></p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>Alpha &gt; 0.0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinContLength" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinContLength</span><span data-if="c" style="display:none">MinContLength</span><span data-if="cpp" style="display:none">MinContLength</span><span data-if="com" style="display:none">MinContLength</span><span data-if="dotnet" style="display:none">minContLength</span><span data-if="python" style="display:none">min_cont_length</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Minimum length of the contours of the marks.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>15.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>10.0, 15.0, 20.0, 30.0, 40.0, 100.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>MinContLength &gt; 0.0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaxDiamMarks" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaxDiamMarks</span><span data-if="c" style="display:none">MaxDiamMarks</span><span data-if="cpp" style="display:none">MaxDiamMarks</span><span data-if="com" style="display:none">MaxDiamMarks</span><span data-if="dotnet" style="display:none">maxDiamMarks</span><span data-if="python" style="display:none">max_diam_marks</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Maximum expected diameter of the marks.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>100.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>50.0, 100.0, 150.0, 200.0, 300.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>MaxDiamMarks &gt; 0.0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RCoord" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RCoord</span><span data-if="c" style="display:none">RCoord</span><span data-if="cpp" style="display:none">RCoord</span><span data-if="com" style="display:none">RCoord</span><span data-if="dotnet" style="display:none">RCoord</span><span data-if="python" style="display:none">rcoord</span></code></b> (output_control)  </span><span>real-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Tuple with row coordinates of the detected marks.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CCoord" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CCoord</span><span data-if="c" style="display:none">CCoord</span><span data-if="cpp" style="display:none">CCoord</span><span data-if="com" style="display:none">CCoord</span><span data-if="dotnet" style="display:none">CCoord</span><span data-if="python" style="display:none">ccoord</span></code></b> (output_control)  </span><span>real-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Tuple with column coordinates of the detected marks.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="StartPose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">StartPose</span><span data-if="c" style="display:none">StartPose</span><span data-if="cpp" style="display:none">StartPose</span><span data-if="com" style="display:none">StartPose</span><span data-if="dotnet" style="display:none">startPose</span><span data-if="python" style="display:none">start_pose</span></code></b> (output_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Estimation for the external camera parameters.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
<div data-if="hdevelop" style="display:inline">
<h2 id="sec_example_hdevelop">例程 (HDevelop)</h2>
<pre class="example">
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
</pre>
</div>
<div data-if="c" style="display:none">
<h2 id="sec_example_c">例程 (HDevelop)</h2>
<pre class="example">
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
</pre>
</div>
<div data-if="cpp" style="display:none">
<h2 id="sec_example_cpp">例程 (HDevelop)</h2>
<pre class="example">
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
</pre>
</div>
<div data-if="com" style="display:none">
<h2 id="sec_example_com">例程 (HDevelop)</h2>
<pre class="example">
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
</pre>
</div>
<div data-if="dotnet" style="display:none">
<h2 id="sec_example_dotnet">例程 (HDevelop)</h2>
<pre class="example">
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
</pre>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">find_marks_and_pose</span><span data-if="c" style="display:none">find_marks_and_pose</span><span data-if="cpp" style="display:none">FindMarksAndPose</span><span data-if="com" style="display:none">FindMarksAndPose</span><span data-if="dotnet" style="display:none">FindMarksAndPose</span><span data-if="python" style="display:none">find_marks_and_pose</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameter values are
correct and an estimation for the external camera parameters has been
determined successfully. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="find_caltab.html"><span data-if="hdevelop" style="display:inline">find_caltab</span><span data-if="c" style="display:none">find_caltab</span><span data-if="cpp" style="display:none">FindCaltab</span><span data-if="com" style="display:none">FindCaltab</span><span data-if="dotnet" style="display:none">FindCaltab</span><span data-if="python" style="display:none">find_caltab</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="camera_calibration.html"><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="find_caltab.html"><span data-if="hdevelop" style="display:inline">find_caltab</span><span data-if="c" style="display:none">find_caltab</span><span data-if="cpp" style="display:none">FindCaltab</span><span data-if="com" style="display:none">FindCaltab</span><span data-if="dotnet" style="display:none">FindCaltab</span><span data-if="python" style="display:none">find_caltab</span></a></code>, 
<code><a href="camera_calibration.html"><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></a></code>, 
<code><a href="disp_caltab.html"><span data-if="hdevelop" style="display:inline">disp_caltab</span><span data-if="c" style="display:none">disp_caltab</span><span data-if="cpp" style="display:none">DispCaltab</span><span data-if="com" style="display:none">DispCaltab</span><span data-if="dotnet" style="display:none">DispCaltab</span><span data-if="python" style="display:none">disp_caltab</span></a></code>, 
<code><a href="sim_caltab.html"><span data-if="hdevelop" style="display:inline">sim_caltab</span><span data-if="c" style="display:none">sim_caltab</span><span data-if="cpp" style="display:none">SimCaltab</span><span data-if="com" style="display:none">SimCaltab</span><span data-if="dotnet" style="display:none">SimCaltab</span><span data-if="python" style="display:none">sim_caltab</span></a></code>, 
<code><a href="read_cam_par.html"><span data-if="hdevelop" style="display:inline">read_cam_par</span><span data-if="c" style="display:none">read_cam_par</span><span data-if="cpp" style="display:none">ReadCamPar</span><span data-if="com" style="display:none">ReadCamPar</span><span data-if="dotnet" style="display:none">ReadCamPar</span><span data-if="python" style="display:none">read_cam_par</span></a></code>, 
<code><a href="read_pose.html"><span data-if="hdevelop" style="display:inline">read_pose</span><span data-if="c" style="display:none">read_pose</span><span data-if="cpp" style="display:none">ReadPose</span><span data-if="com" style="display:none">ReadPose</span><span data-if="dotnet" style="display:none">ReadPose</span><span data-if="python" style="display:none">read_pose</span></a></code>, 
<code><a href="create_pose.html"><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></a></code>, 
<code><a href="pose_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">pose_to_hom_mat3d</span><span data-if="c" style="display:none">pose_to_hom_mat3d</span><span data-if="cpp" style="display:none">PoseToHomMat3d</span><span data-if="com" style="display:none">PoseToHomMat3d</span><span data-if="dotnet" style="display:none">PoseToHomMat3d</span><span data-if="python" style="display:none">pose_to_hom_mat3d</span></a></code>, 
<code><a href="caltab_points.html"><span data-if="hdevelop" style="display:inline">caltab_points</span><span data-if="c" style="display:none">caltab_points</span><span data-if="cpp" style="display:none">CaltabPoints</span><span data-if="com" style="display:none">CaltabPoints</span><span data-if="dotnet" style="display:none">CaltabPoints</span><span data-if="python" style="display:none">caltab_points</span></a></code>, 
<code><a href="gen_caltab.html"><span data-if="hdevelop" style="display:inline">gen_caltab</span><span data-if="c" style="display:none">gen_caltab</span><span data-if="cpp" style="display:none">GenCaltab</span><span data-if="com" style="display:none">GenCaltab</span><span data-if="dotnet" style="display:none">GenCaltab</span><span data-if="python" style="display:none">gen_caltab</span></a></code>, 
<code><a href="edges_sub_pix.html"><span data-if="hdevelop" style="display:inline">edges_sub_pix</span><span data-if="c" style="display:none">edges_sub_pix</span><span data-if="cpp" style="display:none">EdgesSubPix</span><span data-if="com" style="display:none">EdgesSubPix</span><span data-if="dotnet" style="display:none">EdgesSubPix</span><span data-if="python" style="display:none">edges_sub_pix</span></a></code>, 
<code><a href="edges_image.html"><span data-if="hdevelop" style="display:inline">edges_image</span><span data-if="c" style="display:none">edges_image</span><span data-if="cpp" style="display:none">EdgesImage</span><span data-if="com" style="display:none">EdgesImage</span><span data-if="dotnet" style="display:none">EdgesImage</span><span data-if="python" style="display:none">edges_image</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Foundation</p>
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